CN114002719A - Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium - Google Patents
Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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Abstract
The invention discloses a single-frequency dual-mode multi-antenna fusion RTK positioning method, a device, equipment and a medium, wherein the single-frequency dual-mode multi-antenna fusion RTK positioning method comprises the following steps: acquiring differential positioning information broadcasted to a mobile station by a reference station and observation data of the mobile station; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three; analyzing and double-difference positioning processing are carried out on the differential positioning information and the observation data to obtain a differential positioning result; removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result, and reserving the differential positioning result of the fixed solution; and carrying out algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point. The embodiment of the invention adopts single-frequency dual-mode multi-antenna fusion to deal with the condition of individual antenna ambiguity unlocking, effectively avoids the fixed solution loss and further improves the positioning precision.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and storage medium.
Background
The development of modern science and technology has led to the continuous development and improvement of Global Navigation Satellite System (GNSS), and currently, GNSS has successfully provided high-precision, real-time, and continuous positioning, Navigation and time service for users. The Real Time Kinematic (RTK) technique is a significant breakthrough in GNSS space positioning technology, and has milestone significance. The RTK technology has the advantages of high precision, high efficiency, real-time property and the like, so that the RTK technology is widely applied to the field of engineering measurement. The limitation of the conventional RTK technology enables the network RTK technology to be developed at the same time, and the network RTK can obtain a better positioning result theoretically. However, on one hand, the method is easy to be limited by a mobile communication network, and a better solution result cannot be obtained in some scenes. On the other hand, most commercial receivers are dual-frequency multi-system receivers at present, although redundant observation values are increased, the fixing time of ambiguity is shortened, and the positioning accuracy and the working efficiency are improved, the price of the receivers is higher.
In the field of engineering measurement, the operation range is generally small, and the distance between a reference station and a mobile station is short, so that the mode of automatically erecting the reference station can be adopted, and no requirement is imposed on a charged mobile communication network. Engineering measures strictly control project cost, and low-cost GNSS receivers are preferably adopted in aspects of site layout density, project period, human capital and the like. The most distinctive feature of the low-cost receiver is that the cost of the low-cost receiver is only 1/10 of the high-cost receiver, but due to the influence of channel fading and multipath effect, the single-frequency low-cost receiver can only obtain floating ambiguity at some moments, and a fixed solution is lost, so that the positioning accuracy is greatly reduced.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a single-frequency dual-mode multi-antenna fusion RTK positioning method, apparatus, device and medium, which adopts single-frequency dual-mode multi-antenna fusion to cope with the situation of ambiguity unlocking of individual antennas, effectively avoids the loss of fixation solution, and further improves the positioning accuracy.
In order to achieve the above object, an embodiment of the present invention provides a single-frequency dual-mode multi-antenna fusion RTK positioning method, including:
acquiring differential positioning information broadcasted to a mobile station by a reference station and observation data of the mobile station; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three;
analyzing and double-difference positioning processing are carried out on the differential positioning information and the observation data to obtain a differential positioning result;
removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result, and reserving the differential positioning result of the fixed solution;
and carrying out algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point.
As an improvement of the above scheme, the performing algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point specifically includes:
constructing a geometric model of the differential positioning result of the fixed solution;
and carrying out indirect adjustment on the geometric model to obtain coordinate information of the positioning point.
As an improvement of the above solution, the geometric model of the differential positioning result of the fixed solution is:
wherein, (x, y) represents the coordinates of the differential positioning result of the fixed solution, and the coordinates of the circle center O is the coordinate information of the positioning point.
As an improvement of the above scheme, the performing indirect adjustment on the geometric model to obtain coordinate information of the positioning point specifically includes:
constructing an error equation set of the geometric model by an indirect adjustment method; wherein the error equation set comprises at least three error equations, and each error equation represents a positioning result;
and solving the unknown numbers in the error equation set to obtain the coordinate information of the positioning point.
As an improvement of the above solution, the error equation is:
axi+byi+c＝-(xi 2+yi 2)
wherein (x)i,yi) Coordinates representing the differential positioning results of the fixed solution.
As a modification of the above, the differential positioning information includes standard coordinate information of the reference station and a correction amount, which is a deviation value between the standard coordinate information and observation data of the reference station.
As an improvement of the above solution, the differential positioning information broadcast by the reference station received by each mobile station is the same.
The embodiment of the invention also provides a single-frequency dual-mode multi-antenna fusion RTK positioning device, which comprises:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring differential positioning information broadcasted by a reference station to a mobile station and observation data of the mobile station; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three;
the processing module is used for analyzing and performing double-difference positioning processing on the differential positioning information and the observation data to obtain a differential positioning result;
the screening module is used for removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result and reserving the differential positioning result of the fixed solution;
and the calculation module is used for carrying out algorithm fusion on the differential positioning result of the fixed solution to obtain the coordinate information of the positioning point.
An embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements the single-frequency dual-mode multi-antenna fusion RTK positioning method described in any one of the above when executing the computer program.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned single-frequency dual-mode multi-antenna fusion RTK positioning methods.
Compared with the prior art, the single-frequency dual-mode multi-antenna fusion RTK positioning method, the device, the equipment and the medium provided by the embodiment of the invention have the beneficial effects that: differential positioning information broadcasted to a mobile station by a reference station and observation data of the mobile station are obtained; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three; analyzing and double-difference positioning processing are carried out on the differential positioning information and the observation data to obtain a differential positioning result; removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result, and reserving the differential positioning result of the fixed solution; and carrying out algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point. The embodiment of the invention adopts single-frequency dual-mode multi-antenna fusion to deal with the condition of individual antenna ambiguity unlocking, effectively avoids the fixed solution loss and further improves the positioning precision.
Drawings
FIG. 1 is a schematic flowchart of a preferred embodiment of a single-frequency dual-mode multi-antenna fusion RTK positioning method provided by the present invention;
FIG. 2 is a schematic structural diagram of a preferred embodiment of a single-frequency dual-mode multi-antenna fusion RTK positioning apparatus provided by the present invention;
fig. 3 is a schematic structural diagram of a preferred embodiment of a terminal device provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a single-frequency dual-mode multi-antenna fusion RTK positioning method according to a preferred embodiment of the present invention. The single-frequency dual-mode multi-antenna fusion RTK positioning method comprises the following steps:
s1, obtaining differential positioning information broadcast by a reference station to a mobile station and observation data of the mobile station; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three;
s2, analyzing and performing double-difference positioning processing on the differential positioning information and the observation data to obtain a differential positioning result;
s3, removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result, and reserving the differential positioning result of the fixed solution;
and S4, performing algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point.
Specifically, in this embodiment, one reference station and at least three mobile stations are provided, and both the antenna of the reference station and the antenna of the mobile station are single-frequency dual-mode antennas. The single-frequency finger receiver can only receive signals of one frequency point of the satellite system, the dual-mode finger receiver can receive signals of two satellite systems, and a GNSS antenna is preferred in the embodiment. The reference station and the mobile station synchronously observe the same satellite, and the reference station broadcasts differential positioning information in an RTCM V3.2 format to the mobile station in a radio station mode. And acquiring differential positioning information and observation data of the mobile station, which are broadcast to the mobile station by the reference station, and then analyzing and performing double-differential positioning processing on the differential positioning information and the observation data to obtain a differential positioning result. According to the NMEA-0183 protocol, the positioning result is a fixed solution only when the flag bit is 4. And removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result, and keeping the differential positioning result of the fixed solution. And carrying out algorithm fusion on the differential positioning result of the fixed solution to obtain the coordinate information of the positioning point.
It should be noted that due to the influence of channel fading and multipath effect, the antenna signal may only obtain floating ambiguity at a certain time, and cannot provide accurate position information. In order to ensure that at least three antennas are in a fixed solution state, the embodiment utilizes the idea of antenna diversity, and adopts multi-antenna fusion to cope with the ambiguity unlocking condition of individual antennas, so as to avoid the fixed solution deficiency and further improve the positioning accuracy.
In another preferred embodiment, the S4, performing algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point specifically includes:
s401, constructing a geometric model of the differential positioning result of the fixed solution;
s402, carrying out indirect adjustment on the geometric model to obtain coordinate information of the positioning point.
Specifically, after the differential positioning result of the fixed solution is obtained, a geometric model of the differential positioning result of the fixed solution is constructed, and indirect adjustment is performed on the geometric model to obtain coordinate information of the positioning point.
In a further preferred embodiment, the geometric model of the differential localization result of the fixed solution is:
wherein, (x, y) represents the coordinates of the differential positioning result of the fixed solution, and the coordinates of the circle center O is the coordinate information of the positioning point.
Specifically, since the acquisition of the signal in the positioning process is set to be 1 per second, the frequency is 60HZ, which is continuous, that is, there is one positioning point information per second, and the positioning point information is not continuous but is distributed discretely. In this embodiment, the differential positioning results of the fixed solution are discretely distributed on the same circle, and the geometric model for constructing the differential positioning results of the fixed solution is as follows:
wherein, (x, y) represents the coordinates of the differential positioning result of the fixed solution, and the coordinates of the circle center O is the coordinate information of the positioning point.
In another preferred embodiment, the S402, performing indirect adjustment on the geometric model to obtain coordinate information of the positioning point specifically includes:
constructing an error equation set of the geometric model by an indirect adjustment method; wherein the error equation set comprises at least three error equations, and each error equation represents a positioning result;
and solving the unknown numbers in the error equation set to obtain the coordinate information of the positioning point.
Specifically, an error equation set of the geometric model is constructed through an indirect adjustment method. Since there are three unknowns in the geometric model, the set of error equations includes at least three error equations, and each error equation represents a positioning result. And solving the unknown number in the error equation set, wherein the geometric model is a circle, so that the process of solving the unknown number is to fit the coordinates of the circle center, and the coordinates of the circle center obtained by fitting is the coordinate information of the positioning point.
In yet another preferred embodiment, the error equation is:
axi+byi+c＝-(xi 2+yi 2)
wherein (x)i,yi) Coordinates representing the differential positioning results of the fixed solution.
Specifically, the error equation is:
axi+byi+c＝-(xi 2+yi 2)
wherein (x)i,yi) Coordinates representing the differential positioning results of the fixed solution.
Solving unknowns a, b and c in the error equation set by using a least square method, and converting the error equation set into a vector set:
according to Z ═ BTB)-1BTL is calculated to obtain the values of unknown numbers a, b and c, and further the coordinate of the center O of the circle is obtained
I.e. coordinate information of the anchor point.
In order to improve the accuracy, there are generally redundant observation values, and the redundant observation values are used to perform adjustment. In general engineering application, n observed values (differential positioning results of fixed solutions) are not more than 5. When n is less than 3, the error equation coefficient is rank deficient, and no unique fitting circle center coordinate exists, so specific prompt is given in the method; when n is 3, no redundant observation value exists, a fitting circle center coordinate can be obtained, and the accuracy is not lower than 2cm through experimental verification, so that the engineering requirement is met; when n is 4, a redundant observation value exists, and the precision of the fitted circle center coordinate is not lower than 1.5cm through experimental verification, so that the engineering requirement is met; when n is greater than 4, the gross error can be detected and eliminated, and the fitted circle center coordinate has higher precision.
Preferably, the differential positioning information includes standard coordinate information of the reference station and a correction amount, and the correction amount is a deviation value between the standard coordinate information and observation data of the reference station.
Specifically, the differential positioning information includes standard coordinate information of the reference station and a correction amount, which is a deviation value between the standard coordinate information of the reference station and the observation data of the reference station.
Preferably, the differential positioning information broadcast by the reference station and received by each mobile station is the same.
Specifically, the reference station broadcasts differential positioning information, and the mobile station receives and performs double-differential positioning processing in a one-to-one manner. If the differential positioning information received by each mobile station is different, the differential positioning accuracy is affected. In the embodiment, each mobile station receives uniform differential positioning information, so that the positioning accuracy can be ensured to be consistent.
Correspondingly, the invention also provides a single-frequency dual-mode multi-antenna fusion RTK positioning device, which can realize all the processes of the single-frequency dual-mode multi-antenna fusion RTK positioning method in the embodiment.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a single-frequency dual-mode multi-antenna fusion RTK positioning apparatus according to a preferred embodiment of the present invention. The single-frequency dual-mode multi-antenna fusion RTK positioning device comprises:
an obtaining module 201, configured to obtain differential positioning information broadcast by a reference station to a mobile station and observation data of the mobile station; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three;
the processing module 202 is configured to perform analysis and double-difference positioning processing on the differential positioning information and the observation data to obtain a differential positioning result;
the screening module 203 is configured to remove the differential positioning result of the non-fixed solution according to the flag bit of the differential positioning result, and retain the differential positioning result of the fixed solution;
and the calculating module 204 is configured to perform algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point.
Preferably, the calculating module 204 is specifically configured to:
constructing a geometric model of the differential positioning result of the fixed solution;
and carrying out indirect adjustment on the geometric model to obtain coordinate information of the positioning point.
Preferably, the geometric model of the differential positioning result of the fixed solution is:
wherein, (x, y) represents the coordinate of the differential positioning result of the fixed solution, and the coordinate of the circle center O is the coordinate information of the positioning point.
Preferably, the performing indirect adjustment on the geometric model to obtain coordinate information of the positioning point specifically includes:
constructing an error equation set of the geometric model by an indirect adjustment method; wherein the error equation set comprises at least three error equations, and each error equation represents a positioning result;
and solving the unknown numbers in the error equation set to obtain the coordinate information of the positioning point.
Preferably, the error equation is:
axi+byi+c＝-(xi 2+yi 2)
wherein (x)i,yi) Coordinates representing the differential positioning results of the fixed solution.
Preferably, the differential positioning information includes standard coordinate information of the reference station and a correction amount, and the correction amount is a deviation value between the standard coordinate information and observation data of the reference station.
Preferably, the differential positioning information broadcast by the reference station received by each mobile station is the same.
In a specific implementation, the working principle, the control flow and the implementation technical effect of the single-frequency dual-mode multi-antenna fusion RTK positioning apparatus provided in the embodiment of the present invention are the same as those of the single-frequency dual-mode multi-antenna fusion RTK positioning method in the above embodiment, and are not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a terminal device according to a preferred embodiment of the present invention. The terminal device comprises a processor 301, a memory 302 and a computer program stored in the memory 302 and configured to be executed by the processor 301, wherein the processor 301 implements the single-frequency dual-mode multi-antenna fusion RTK positioning method according to any one of the above embodiments when executing the computer program.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program 1, computer program 2, … …) that are stored in the memory 302 and executed by the processor 301 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor 301 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor 301 may be any conventional Processor, the Processor 301 is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory 302 mainly includes a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the data storage area may store related data and the like. In addition, the memory 302 may be a high speed random access memory, a non-volatile memory such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or the memory 302 may be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the structural diagram of fig. 3 is only an example of the terminal device and does not constitute a limitation of the terminal device, and may include more or less components than those shown, or combine some components, or different components.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the single-frequency dual-mode multi-antenna fusion RTK positioning method described in any of the above embodiments.
The embodiment of the invention provides a single-frequency dual-mode multi-antenna fusion RTK positioning method, a device, equipment and a medium, wherein differential positioning information broadcasted to a mobile station by a reference station and observation data of the mobile station are obtained; the antenna of the reference station and the antenna of the mobile station are both single-frequency dual-mode antennas, and the number of the mobile stations is not less than three; analyzing and double-difference positioning processing are carried out on the differential positioning information and the observation data to obtain a differential positioning result; removing the differential positioning result of the non-fixed solution according to the zone bit of the differential positioning result, and reserving the differential positioning result of the fixed solution; and carrying out algorithm fusion on the differential positioning result of the fixed solution to obtain coordinate information of the positioning point. The embodiment of the invention adopts single-frequency dual-mode multi-antenna fusion to deal with the condition of individual antenna ambiguity unlocking, effectively avoids the fixed solution loss and further improves the positioning precision.
It should be noted that the above-described system embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the system provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114779303A (en) * | 2022-03-16 | 2022-07-22 | 中国电子科技集团公司第五十四研究所 | RTK positioning method based on fusion of geometric model algorithm and non-geometric model algorithm |
| CN116125514A (en) * | 2023-02-09 | 2023-05-16 | 广州市城市规划勘测设计研究院 | Ground disaster monitoring method, device, terminal and medium based on Beidou PPP-RTK virtual observation value |
| CN116803240A (en) * | 2022-03-25 | 2023-09-26 | 南京泉峰科技有限公司 | Intelligent lawn mowing system and self-moving equipment |
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